1. Thrice (already mentioned in the comments) https://github.com/rokath/trice
2. Pigweed's Tokenizer (from Google) https://pigweed.dev/pw_tokenizer/
3. Memfault's Compact Logs https://docs.memfault.com/docs/mcu/compact-logs
4. Defmt by Ferrous Systems https://defmt.ferrous-systems.com/
More modern than nanolog and also type safe supporting any type
1. Thrice (already mentioned in the comments) https://github.com/rokath/trice
2. Pigweed's Tokenizer (from Google) https://pigweed.dev/pw_tokenizer/
3. Memfault's Compact Logs https://docs.memfault.com/docs/mcu/compact-logs
4. Defmt by Ferrous Systems https://defmt.ferrous-systems.com/